Papers Multi-Agent Path Finding
“Multi-Agent Path Finding” 태그가 달린 논문 140편 · 필터 해제
Position Paper: From Multi-Agent Pathfinding to Pipe Routing
The 2D Multi-Agent Path Finding (MAPF) problem aims at finding collision-free paths for a number of agents, from a set of start locations to a set of goal positions in a known 2D environment. MAPF has been studied in the…
Multi-Agent Path FindingPositionRobot NavigationFrom Abstractions to Grounded Languages for Robust Coordination of Task Planning Robots
In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicativ…
Multi-Agent Path FindingTask PlanningMulti-agent Path Finding with Continuous Time Viewed Through Satisfiability Modulo Theories (SMT)
This paper addresses a variant of multi-agent path finding (MAPF) in continuous space and time. We present a new solving approach based on satisfiability modulo theories (SMT) to obtain makespan optimal solutions. The st…
Multi-Agent Path FindingA Summary of Adaptation of Techniques from Search-based Optimal Multi-Agent Path Finding Solvers to Compilation-based Approach
In the multi-agent path finding problem (MAPF) we are given a set of agents each with respective start and goal positions. The task is to find paths for all agents while avoiding collisions aiming to minimize an objectiv…
Multi-Agent Path FindingSearching with Consistent Prioritization for Multi-Agent Path Finding
We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents …
Multi-Agent Path FindingLazy Modeling of Variants of Token Swapping Problem and Multi-agent Path Finding through Combination of Satisfiability Modulo Theories and Conflict-based Search
We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending…
Multi-Agent Path FindingFinding Optimal Solutions to Token Swapping by Conflict-based Search and Reduction to SAT
We study practical approaches to solving the token swapping (TSWAP) problem optimally in this short paper. In TSWAP, we are given an undirected graph with colored vertices. A colored token is placed in each vertex. A pai…
Multi-Agent Path FindingMulti-Agent Path Finding with Deadlines
We formalize Multi-Agent Path Finding with Deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within the deadline, without coll…
Multi-Agent Path FindingMulti-Agent Path Finding with Deadlines: Preliminary Results
We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within a given dea…
Multi-Agent Path FindingAI Buzzwords Explained: Multi-Agent Path Finding (MAPF)
Explanation of the hot topic "multi-agent path finding".
Multi-Agent Path FindingFeasibility Study: Moving Non-Homogeneous Teams in Congested Video Game Environments
Multi-agent path finding (MAPF) is a well-studied problem in artificial intelligence, where one needs to find collision-free paths for agents with given start and goal locations. In video games, agents of different types…
Multi-Agent Path FindingModifying Optimal SAT-based Approach to Multi-agent Path-finding Problem to Suboptimal Variants
In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approa…
Multi-Agent Path FindingRapid Randomized Restarts for Multi-Agent Path Finding Solvers
Multi-Agent Path Finding (MAPF) is an NP-hard problem well studied in artificial intelligence and robotics. It has many real-world applications for which existing MAPF solvers use various heuristics. However, these solve…
Multi-Agent Path FindingLifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks
The multi-agent path-finding (MAPF) problem has recently received a lot of attention. However, it does not capture important characteristics of many real-world domains, such as automated warehouses, where agents are cons…
Multi-Agent Path FindingOverview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios
Multi-agent path finding (MAPF) is well-studied in artificial intelligence, robotics, theoretical computer science and operations research. We discuss issues that arise when generalizing MAPF methods to real-world scenar…
Multi-Agent Path FindingOptimal Target Assignment and Path Finding for Teams of Agents
We study the TAPF (combined target-assignment and path-finding) problem for teams of agents in known terrain, which generalizes both the anonymous and non-anonymous multi-agent path-finding problems. Each of the teams is…
Multi-Agent Path FindingMulti-Agent Path Finding with Delay Probabilities
Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search…
Multi-Agent Path FindingvalidResolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths
We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed p…
Multi-Agent Path FindingJustifying and Improving Meta-Agent Conflict-Based Search
The Meta-Agent Conflict-Based Search~(MA-CBS) is a recently proposed algorithm for the multi-agent path finding problem. The algorithm is an extension of Conflict-Based Search~(CBS), which automatically merges conflictin…
Multi-Agent Path FindingFinding Coordinated Paths for Multiple Holonomic Agents in 2-d Polygonal Environment
Avoiding collisions is one of the vital tasks for systems of autonomous mobile agents. We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal o…
Collision AvoidanceMulti-Agent Path Finding